Equipment moving method and transmitting terminal equipment

Abstract

The embodiment of the invention provides a device moving method and a transmitting terminal device. In the method, a transmitting terminal device can control a receiving terminal device to move horizontally to achieve alignment in the horizontal direction and control a transmitting terminal coil (a charging coil in the transmitting terminal device) to move vertically to achieve alignment in the vertical direction. Under the condition that alignment in the horizontal direction and alignment in the vertical direction are both completed, it is indicated that alignment of the transmitting end coil and the receiving end coil (a charging coil in receiving end equipment) is completed, and the centers of the transmitting end coil and the receiving end coil coincide. Therefore, the efficiency of charging the receiving end equipment by the transmitting end equipment can be improved, the heating of the receiving end equipment is reduced, and the high-power wireless charging time is prolonged.

Description

[0001] This application is a divisional application of the application with the application number 202211608509.5 and the filing date of December 14, 2022, and the title of "A device moving method and a transmitting end device". The entire contents of the original application are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of wireless charging technology, in particular to a device moving method and a transmitting end device. BACKGROUND

[0003] Wireless charging technology (WCT) uses a transmission medium such as an electric field, a magnetic field, a microwave, or a laser to achieve wireless transmission of electric energy. Due to its advantages such as no wire restriction and no plugging, the application of WCT in electronic devices is becoming more and more widespread.

[0004] At present, more and more electronic devices use a transmitting end device to charge them wirelessly. For example, the electronic devices can be a mobile phone or a wearable device. Such electronic devices can also be referred to as receiving end devices. Both the transmitting end device and the receiving end device include a coil to achieve the function of wireless charging. The coil included in the receiving end device can be referred to as a receiving end coil, and the coil included in the transmitting end device can be referred to as a transmitting end coil. The transmitting end coil and the receiving end coil can achieve wireless transmission of electric energy through electromagnetic coupling. However, when wireless charging is performed, the centers of the transmitting end coil and the receiving end coil need to coincide (within a certain error range, it is also considered that the centers coincide), so as to be "well aligned" and have high charging efficiency. If the centers of the transmitting end coil and the receiving end coil deviate too much (this situation can be referred to as "misalignment"), wireless charging may not be achieved or the charging efficiency is low. The center coincidence includes that the line connecting the centers of the two coils is perpendicular or close to perpendicular to the plane of any coil.

[0005] At present, the positions of the receiving end coils of different receiving end devices are different. In order to better achieve the function of wireless charging of the receiving end device, automatic alignment of the transmitting end coil and the receiving end coil can be performed, that is, the centers of the transmitting end coil and the receiving end coil are controlled to coincide, so as to improve the charging efficiency. SUMMARY

[0006] The present application provides a device moving method and a transmitting end device. The centers of the transmitting end coil and the receiving end coil are coincided by moving the receiving end device along a first direction and moving the transmitting end coil along a second direction. In this way, the efficiency of charging the receiving end device by the transmitting end device can be improved, the heat of the receiving end device can be reduced, and the time of high-power wireless charging can be prolonged.

[0007] In a first aspect, the present application provides a device moving method, which is suitable for a wireless charging system including a transmitting device and a receiving device, wherein the transmitting device includes a transmitting coil, and the receiving device includes a receiving coil, and the method includes: moving the receiving device by the transmitting device along a first direction, and determining a first parameter according to a first frequency during the movement of the receiving device; moving the receiving device to a first position; wherein the first position is the position of the receiving device corresponding to the maximum of the first parameter during the movement of the receiving device; and moving the transmitting coil by the transmitting device along a second direction perpendicular to the first direction, and determining the first parameter according to a second frequency during the movement of the transmitting coil; moving the transmitting coil to a second position; wherein the second position is the position of the transmitting coil corresponding to the maximum of the first parameter during the movement of the transmitting coil.

[0008] In the above embodiment, the first direction can be along a horizontal direction, and the second direction can be along a vertical direction, or the first direction can be along a vertical direction, and the second direction can be along a horizontal direction. In the case of moving the receiving device along the horizontal direction and moving the transmitting coil along the vertical direction, one example of the first position can be the target position 1 in the following embodiment, and the first example of the second position can be the target position 2 in the following embodiment. The first parameter can be the Q value involved in the following embodiment, and the closer the distance between the two coils, the better the coincidence, and the greater the first parameter. The farther the distance between the two coils, the smaller the first parameter.

[0009] The transmitting device can move the receiving device and the transmitting coil respectively to realize alignment, to detect the value of the first parameter, to determine the alignment of the transmitting coil and the receiving coil, and to stop alignment when the first parameter is maximum so that the centers of the transmitting coil and the receiving coil coincide. In this way, the efficiency of the transmitting device charging the receiving device can be improved, the receiving device can be heated less, and the time of high-power wireless charging can be prolonged.

[0010] With reference to the first aspect, in some embodiments, the method further includes: when the first condition is met while the transmitting end device moves the receiving end device along the first direction, the transmitting end device stops moving the receiving end device along the first direction, and then moves the receiving end device along the opposite direction of the first direction to the first position; wherein the first condition includes that the detected first parameter continuously increases during the movement of the receiving end device along the first direction to the first position, and continuously decreases R times during the movement of the receiving end device along the first direction after passing the first position; wherein R is an integer greater than or equal to 1; when the second condition is met while the transmitting end device moves the transmitting end coil along the second direction, the transmitting end device stops moving the transmitting end coil along the second direction, and then moves the transmitting end coil along the opposite direction of the second direction to the second position; wherein the second condition includes that the detected first parameter continuously increases during the movement of the transmitting end coil along the second direction to the second position, and continuously decreases M times during the movement of the transmitting end coil along the second direction after passing the second position, and M is an integer greater than or equal to 1.

[0011] In the above embodiments, when the receiving end device is moved, the first parameter is detected to continuously increase and then continuously decrease R times, and then the position where the size of the first parameter changes is the first position, and the receiving end device is controlled to move reversely to the first position to realize the alignment in the first direction. When the transmitting end coil is moved, the first parameter is detected to continuously increase and then continuously decrease M times, and then the position where the size of the first parameter changes is the second position, and the receiving end device is controlled to move reversely to the second position to realize the alignment in the second direction. This process is realized by detecting the first parameter when the receiving end device or the transmitting end coil is moved, and the implementation is simple.

[0012] With reference to the first aspect, in some embodiments, the method further includes: before the transmitting end device moves the receiving end device along the first direction, the transmitting end device charges the receiving end device with a first power; after the transmitting end device moves the transmitting end coil to the second position, the transmitting end device charges the receiving end device with a second power; wherein the second power is greater than the first power.

[0013] In the above embodiment, an exemplary description of the first power can be power A in the following embodiment, and an exemplary description of the second power can be power B in the following embodiment. Before alignment, because the transmitting end coil and the receiving end coil are far away from each other, a small power (the first power) is used for wireless charging before alignment, so that the receiving end device can be charged, but the receiving end device will not overheat due to alignment difference. After alignment is completed, a larger power can be used for wireless charging to improve the efficiency of the transmitting end device charging the receiving end device.

[0014] In combination with the first aspect, in some embodiments, before the transmitting end device moves the receiving end device along the first direction, the method further comprises: if the detected first parameter continuously decreases for R times in the process of moving the receiving end device in the opposite direction of the first direction, it is determined that the transmitting end device moves the receiving end device along the first direction.

[0015] In the above embodiment, when the receiving end device is moved, the first parameter can be detected to continuously decrease for R times before the first parameter is detected to continuously increase, at which time the receiving end device is moved in the opposite direction, so that the transmitting end device can determine the first position.

[0016] In combination with the first aspect, in some embodiments, the transmitting end device further comprises a first clamping arm and a second clamping arm; the first frequency is that the transmitting end device determines the first parameter once every first time, and the first time is the time for the transmitting end device to move the clamping arm E times; moving the receiving end device along the first direction specifically comprises: the transmitting end device pushes the receiving end device to move along the first direction through the first clamping arm; when the receiving end device is moved to satisfy the first condition, the transmitting end device controls the receiving end device to move in the opposite direction of the first direction to the first position, specifically comprising: when the receiving end device is moved to satisfy the first condition based on the first clamping arm, the transmitting end device makes the two clamping arms in the state of clamping the receiving end device; the two clamping arms comprise the first clamping arm and the second clamping arm; the transmitting end device pushes the receiving end device to move in the opposite direction of the first direction to the first position E times by R times based on the second clamping arm.

[0017] In the above embodiment, an exemplary description of the first frequency can be the preset frequency 1 involved in the embodiment. When the first parameter is detected to continuously increase and then continuously decrease for R times, the position where the size of the first parameter changes is the first position. Because the first frequency is to move the clamping arm E times, the first parameter is detected once. Then, the receiving end device is moved in the opposite direction of the first direction for E x R times to return to the first position. Wherein “x” means “times”. The process is simple and depends on the relationship between the first frequency and R, without involving complex calculation.

[0018] With reference to the first aspect, in some embodiments, before moving the receiving end device along the first direction, the method further comprises: moving the two clamping arms towards the transmitting end coil at a first speed by the transmitting end device, and determining the first parameter at the first frequency; when the first parameter is determined to be the same for continuous T times during the movement of the two clamping arms, moving the two clamping arms towards the transmitting end coil at a second speed by the transmitting end device, and determining the first parameter at a third frequency; wherein the third speed is less than the first speed; the second frequency is less than the third frequency; and the T is an integer greater than or equal to 1.

[0019] In the above embodiments, an exemplary description of the second frequency can be the preset frequency 2 involved in the embodiments. An exemplary description of the first speed can be the speed A involved in the embodiments, and an exemplary description of the second speed can be the speed B involved in the embodiments. Here, when the two clamping arms are initially far away from the receiving end device, moving the two clamping arms will not cause the movement of the receiving end device, and the movement of the clamping arms can be accelerated so that the clamping arms can quickly contact the receiving end device. This allows the clamping arms to contact the receiving end device more quickly, reducing the time for alignment along the first direction. Moreover, during the acceleration of the movement of the clamping arms, the detection frequency of the first parameter can be reduced, saving computing resources.

[0020] With reference to the first aspect, in some embodiments, before moving the receiving end device along the first direction, the method further comprises: determining, by the transmitting end device, that at least one of the two clamping arms contacts the receiving end device, and that the detected first parameter is the same for continuous U times, to determine to move the receiving end device along the first direction; and the U is an integer greater than or equal to 1.

[0021] With reference to the first aspect, in some embodiments, the transmitting end device further comprises a motor corresponding to the first clamping arm, and a motor corresponding to the second clamping arm. One rotation of the motor corresponding to the first clamping arm causes one movement of the first clamping arm, and one rotation of the motor corresponding to the second clamping arm causes one movement of the second clamping arm. When the receiving end device is moved to satisfy the first condition based on the movement of the first clamping arm, the method further comprises: when the motors corresponding to the two clamping arms are determined to be locked, the transmitting end device determines that the two clamping arms are in a state of clamping the receiving end device; and when the motors corresponding to the two clamping arms are determined not to be locked, the transmitting end device controls the motor with a larger current to stop rotating and the motor with a smaller current to continue rotating so that the clamping arm corresponding to the motor with the smaller current contacts the receiving end device, and the two clamping arms are in a state of clamping the receiving end device.

[0022] In the above embodiment, the motor controls the movement of the clamping arm, and the motor has low manufacturing cost and is easy to control. The method can be easily implemented without increasing the manufacturing cost of the transmitting device. In some possible cases, the motor is a stepper motor. The working principle of the motor includes: inputting a pulse square wave to the motor, which includes a low level or a high level in one cycle. The motor can rotate at the high level and cannot rotate at the low level.

[0023] With reference to the first aspect, in some embodiments, the transmitting device moves the receiving device E times and R times in the opposite direction of the first direction to the first position based on the second clamping arm, specifically including: when the two clamping arms are in the state of clamping the receiving device, the motor with the initial current is reversely rotated E times and R times, and at the same time, the transmitting device rotates the motor with the initial current E times and R times, so that the clamping arm corresponding to the motor with the initial current pushes the receiving device E times and R times in the opposite direction of the first direction to the first position; the initial current of the motor includes the current of the motor when the receiving device is moved to meet the first condition; wherein the clamping arm corresponding to the motor with the initial current is the second clamping arm; and the clamping arm corresponding to the motor with the initial current is the first clamping arm.

[0024] In the above embodiment, the receiving device can return to the first position by reversely rotating the motor E times and R times. The control method is simple, and is completed by hardware control, and has high accuracy.

[0025] With reference to the first aspect, in some embodiments, before moving the transmitting coil in the second direction, the method further includes: if the detected first parameter is continuously reduced M times in the process of moving the transmitting coil in the opposite direction of the second direction of the transmitting device, it is determined that the transmitting device moves the transmitting coil in the second direction.

[0026] In the above embodiment, when the transmitting coil is moved, the first parameter can be continuously reduced M times before the first parameter is continuously increased, and the transmitting coil is reversely moved at this time, so that the transmitting device can determine the second position.

[0027] In some embodiments of the first aspect, the transmitting end device further comprises a motor corresponding to the transmitting end coil, and the motor rotates once to move the transmitting end coil once; the second frequency is determined once per second time, and the second time is the time for the transmitting end device to move the transmitting end coil G times; the transmitting end device controls the transmitting end coil to move to a second position in the opposite direction of the second direction, specifically comprising: the transmitting end device reversely rotates the motor corresponding to the transmitting end coil G times by M times to control the transmitting end coil to move to the second position in the opposite direction of the second direction.

[0028] In the above embodiments, the movement of the transmitting end device is controlled by the motor, the motor has low manufacturing cost and is easy to control. The method can be easily implemented and the manufacturing cost of the transmitting end device is not easily increased. The transmitting end coil can return to the second position by reversely rotating the motor G times by R times. The control method is simple and is completed by hardware control, and has high accuracy.

[0029] In some embodiments of the first aspect, the first parameter is a quality factor Q, which is used to measure the charging efficiency of the transmitting end device, and the higher the charging efficiency is, the larger the first parameter is.

[0030] In the second aspect, the embodiments of the present application provide a transmitting end device, which comprises two clamping arms and a transmitting end coil, wherein: the two clamping arms can move in a first direction; when the transmitting end device moves the receiving end device to meet a first condition through the two clamping arms in the first direction, the transmitting end device stops moving the receiving end device in the first direction, and then moves the receiving end device to a first position in the opposite direction of the first direction; wherein the first condition comprises: in the process of moving the receiving end device, a detected first parameter continuously increases in the process of moving the receiving end device to the first position in the first direction, and continuously decreases R times in the process of continuously moving the receiving end device in the first direction after passing the first position; wherein R is an integer greater than or equal to 1; the transmitting end coil can move in a second direction perpendicular to the first direction; when the transmitting end device moves the transmitting end coil to meet a second condition in the second direction, the transmitting end device stops moving the transmitting end coil in the second direction, and then moves the transmitting end coil to a second position in the opposite direction of the second direction; wherein the second condition comprises: in the process of moving the transmitting end coil, the detected first parameter continuously increases in the process of moving the transmitting end coil to the second position in the second direction, and continuously decreases M times in the process of continuously moving the transmitting end coil in the second direction after passing the second position, and M is an integer greater than or equal to 1.

[0031] In the above embodiments, the transmitting end device can move the receiving end device and the transmitting end coil respectively to realize alignment, detect the value of the first parameter, determine the alignment of the transmitting end coil and the receiving end coil, and stop alignment when the first parameter is maximum so that the centers of the transmitting end coil and the receiving end coil coincide. In this way, the efficiency of charging the receiving end device by the transmitting end device can be improved, the receiving end device can be cooled, and the time of large-power wireless charging can be prolonged. When the receiving end device is moved, after the first parameter is detected to be continuously large and then continuously small for R times, the position where the size of the first parameter changes is the first position, and the receiving end device can be controlled to move reversely to the first position to realize alignment in the first direction. When the transmitting end coil is moved, after the first parameter is detected to be continuously large and then continuously small for M times, the position where the size of the first parameter changes is the second position, and the receiving end device can be controlled to move reversely to the second position to realize alignment in the second direction. The process is realized by detecting the first parameter when the receiving end device or the transmitting end coil is moved, and the implementation is simple.

[0032] In a third aspect, an embodiment of the present application provides a transmitting end device, which comprises one or more processors and a memory; the memory is coupled to the one or more processors, and the memory is used to store computer program code, the computer program code comprises computer instructions, and the one or more processors invoke the computer instructions to enable the transmitting end device to perform the method described in the first aspect or any one of the implementation manners of the first aspect.

[0033] In the above embodiments, the transmitting end device can move the receiving end device and the transmitting end coil respectively to realize alignment, detect the value of the first parameter, determine the alignment of the transmitting end coil and the receiving end coil, and stop alignment when the first parameter is maximum so that the centers of the transmitting end coil and the receiving end coil coincide. In this way, the efficiency of charging the receiving end device by the transmitting end device can be improved, the receiving end device can be cooled, and the time of large-power wireless charging can be prolonged.

[0034] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores a computer program, and the computer program comprises executable instructions, and the executable instructions enable a processor to perform the method described in the first aspect or any one of the implementation manners of the first aspect when the processor executes the executable instructions.

[0035] In the above embodiments, the transmitting end device can move the receiving end device and the transmitting end coil respectively to realize alignment, detect the value of the first parameter, determine the alignment of the transmitting end coil and the receiving end coil, and stop alignment when the first parameter is maximum so that the centers of the transmitting end coil and the receiving end coil coincide. In this way, the efficiency of charging the receiving end device by the transmitting end device can be improved, the receiving end device can be cooled, and the time of large-power wireless charging can be prolonged.

[0036] Fifthly, embodiments of this application provide a chip system applied to a terminal. The chip system includes one or more processors, which are used to invoke computer instructions to cause the terminal to perform the audio-visual orientation processing method as described in the first aspect or any embodiment of the first aspect.

[0037] Sixthly, embodiments of this application provide a computer program product containing instructions that, when run on a terminal, cause the terminal to perform the method described in the first aspect or any embodiment of the first aspect.

[0038] The intentional effects of the second to sixth aspects can be referred to in the aforementioned description of the first aspect, and will not be repeated here. Attached Figure Description

[0039] Figure 1 A schematic diagram of the transmitting device in one scheme is shown;

[0040] Figure 2 A schematic diagram of the transmitting device in this application is shown;

[0041] Figure 3 A schematic diagram of the mobile receiving device is shown;

[0042] Figure 4 A schematic diagram of the movable transmitter coil is shown;

[0043] Figure 5 An exemplary flowchart illustrating wireless charging between a transmitting device and a receiving device is shown.

[0044] Figure 6 An example diagram showing the reference coordinate system and position information is provided.

[0045] Figure 7 The diagram illustrates several exemplary initial state diagrams of the receiver device placed on the transmitter device;

[0046] Figure 8 An exemplary flowchart is shown to illustrate how the transmitting device achieves horizontal alignment according to preset rule 1;

[0047] Figure 9A as well as Figure 9B A schematic diagram of horizontal alignment completed in state A is shown;

[0048] Figure 10A as well as Figure 10B A schematic diagram of horizontal alignment completed in state B is shown;

[0049] Figure 11A as well as Figure 11BA schematic diagram showing completion of horizontal alignment in state C is shown.

[0050] Figure 12 A schematic diagram showing an exemplary flowchart of the transmitting end device implementing vertical alignment according to preset rule 2 is shown.

[0051] Figure 13 A schematic diagram showing one example of moving the transmitting end coil is shown.

[0052] Figure 14 is a structural schematic diagram of a transmitting end device provided by an embodiment of the present application.

[0053] Figure 15 is a schematic diagram of a receiving end device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0054] The terms used in the following embodiments of the present application are only for the purpose of describing the specific embodiments and are not intended to be limiting of the present application. As used in the specification and the appended claims of the present application, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "and / or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

[0055] Figure 1 A schematic diagram of a transmitting end device in one scheme is shown.

[0056] In this scheme, as shown in (1) of Figure 1 , the charging coil (e.g., coil 101) of the transmitting end device is fixed in position and the transmitting end device cannot change the position of the receiving end device, so automatic alignment cannot be achieved. The charging coil (receiving end coil) of different receiving end devices is in different positions, and it is difficult to adapt to this transmitting end device. One example of a receiving end device that is not aligned with the charging coil of the transmitting end device can be referred to Figure 1 , the center of the charging coil (e.g., coil 102) in the receiving end device does not coincide with the center of the charging coil (e.g., coil 101) of the transmitting end device, so alignment is not achieved.

[0057] For example, the position of the receiving end coil can be different as the position and size of the camera of the receiving end device change. When the receiving end device is placed on the transmitting end device, the receiving end coil can not be aligned with the coil 101 due to the inability of the transmitting end device to automatically align, which can result in low charging efficiency. The reason for the low charging efficiency is that the receiving end coil cannot efficiently receive the energy output by the transmitting end coil to charge when the transmitting end coil and the receiving end coil (e.g., the coil 101) are not aligned (offset), which can result in low charging efficiency. In the offset case, other metal objects (e.g., metal supports, etc.) carried by the receiving end device can also heat due to the eddy current effect, and the time for high-power wireless charging will be reduced due to temperature control protection. The offset can also cause the foreign object detection capability to weaken. In order to prevent false triggering of the charging alarm in the offset case, the threshold for detecting foreign objects will be relaxed, and the ability to detect foreign objects will be weakened. The foreign object can be understood as a metal object other than the receiving end device placed on the transmitting end device.

[0058] The embodiments of the present application provide a transmitting end device and a device moving method. In the method, the transmitting end device can control the horizontal movement of the receiving end device to achieve horizontal alignment, and control the vertical movement of the transmitting end coil (the charging coil in the transmitting end device) to achieve vertical alignment. When the horizontal and vertical alignment is completed, it indicates that the transmitting end coil and the receiving end coil (the charging coil in the receiving end device) are aligned, that is, the centers of the transmitting end coil and the receiving end coil are coincident. The center coincidence referred to herein includes making the center line of the two coils perpendicular or close to perpendicular to any coil.

[0059] In some scenarios, the transmitting end device involved in the embodiments of the present application can be referred to as a wireless charging transmitting end device; and the receiving end device involved in the embodiments of the present application can be referred to as a wireless charging receiving end device.

[0060] It should be understood that making the centers of the two coils (the transmitting end coil and the receiving end coil) coincident can also be described as making the center line distance of the two coils minimum, that is, making the two coils closest. The closest herein includes the closest of the two coils in the horizontal direction, and also includes the closest of the two coils in the vertical direction.

[0061] In some possible cases, after the receiving end device is placed on the transmitting end device, the transmitting end device can first control the receiving end device to move horizontally in the device support base, and determine to stop moving when the receiving end coil is closest to the transmitting end coil in the horizontal direction. At this time, the horizontal direction alignment is completed, and the vertical central axis of the receiving end coil coincides with the vertical central axis of the transmitting end coil. Then, the transmitting end device can control the transmitting end coil to move in the vertical direction, and determine to stop moving when the transmitting end coil is closest to the receiving end coil in the vertical direction. At this time, the two coil centers coincide, and the alignment is completed.

[0062] In some possible cases, after the receiving end device is placed on the transmitting end device, the transmitting end device can first control the receiving end device to move horizontally in the device support base, and determine to stop moving when the receiving end coil is closest to the transmitting end coil in the horizontal direction. At this time, the horizontal direction alignment is completed, and the vertical central axis of the receiving end coil coincides with the vertical central axis of the transmitting end coil. Then, the transmitting end device can control the transmitting end coil to move in the vertical direction, and determine to stop moving when the transmitting end coil is closest to the receiving end coil in the vertical direction. At this time, the two coil centers coincide, and the alignment is completed.

[0063] It should be understood that the aforementioned alignment of the two central axes includes that the projections of the two central axes on the receiving end device coincide, and at this time, the distance between the two central axes is the shortest. The two central axes include the horizontal central axis of the receiving end coil and the horizontal central axis of the transmitting end coil, or the vertical central axis of the receiving end coil and the vertical central axis of the transmitting end coil.

[0064] It should be understood that the horizontal can include parallel to the horizontal central axis, and the vertical can include parallel to the vertical central axis.

[0065] In the foregoing, the manner in which the transmitting end device determines that the receiving end coil is closest to the transmitting end coil in the horizontal direction includes that, during the horizontal movement of the receiving end device, the transmitting end device performs Q value detection at a preset frequency 1. The position of the transmitting end coil is unchanged, and the position of the receiving end coil changes with the movement of the receiving end device, and the receiving end device is stopped to complete the horizontal direction alignment when it is determined that the detected Q value is the maximum (the maximum in the horizontal direction).

[0066] The manner in which the transmitting end device determines that the receiving end coil is closest to the transmitting end coil in the vertical direction includes that, during the vertical movement of the transmitting end coil, the transmitting end device performs Q value detection at a preset frequency 3. The position of the receiving end coil is unchanged, and the position of the transmitting end coil changes, and the transmitting end coil is stopped to complete the vertical direction alignment when it is determined that the detected Q value is the maximum (the maximum in the vertical direction).

[0067] The Q value is the quality factor of the coil. The larger the Q value, the closer the centers of the two coils are and the higher the charging efficiency; the smaller the Q value, the farther the centers of the two coils are and the lower the charging efficiency.

[0068] The Q value has a monotonic relationship with the relative positions of the two coils (the transmitting coil and the receiving coil). The Q value increases when the two coils are close together and decreases when they are far apart. The Q value can be expressed as the ratio of the energy used by the coil for charging (e.g., electromagnetic energy) to the energy consumed by the coil. This consumed energy may include magnetic losses, line losses, etc. The consumed energy cannot be received by the receiving coil and cannot be used for charging. The Q value can be calculated using the following formula.

[0069]

[0070] In this formula, L tx R is the inductance value of the transmitting coil. tx w is the AC impedance of the transmitting coil. tx This is the resonant angular frequency of the resonant network of the transmitting device.

[0071] Based on the above description, it can be understood that the transmitting device can first move the receiving device horizontally, and then move the transmitting coil vertically to complete the alignment. Alternatively, the transmitting coil can be moved vertically first, and then the receiving device can be moved horizontally to complete the alignment. This application does not limit the order in which the receiving device and the transmitting coil are moved.

[0072] To achieve rapid alignment, the receiving device and the transmitting coil can be moved simultaneously, because it is impossible to determine whether the change in Q value is caused by moving the receiving device or moving the transmitting coil.

[0073] The transmitting device involved in the embodiments of this application will be described exemplarily below.

[0074] Figure 2 A schematic diagram of the transmitting device in this application is shown.

[0075] like Figure 2 As shown in Figure (1), this is the side view of the transmitting device. Figure 2 As shown in (2), this is the front of the transmitting device. Below is based on... Figure 2 (2) Introduces the transmitting equipment.

[0076] like Figure 2 Middle (1) and Figure 2As shown in FIG. 2, the transmitting end device can include a charging coil (i.e., a transmitting end coil), a device support base, and two alignment clamping arms. For example, coil 201 can be taken as an exemplary illustration of a transmitting end coil; base 204 can be taken as an exemplary illustration of a device support base; clamping arm 203a and clamping arm 203b can be taken as an exemplary illustration of two alignment clamping arms. In some possible cases, the maximum visible length of the two alignment clamping arms is the same, for example, can be shown as L10. The maximum visible length of the two clamping arms can be 0.5 cm-2 cm, for example, 1 cm, and can also be other values in actual applications, which are not limited by the embodiments of the present application.

[0077] For example, central axis 202a can be taken as an exemplary illustration of a vertical central axis. The horizontal central axis of the transmitting end coil is a line passing through the center of the transmitting end coil and parallel to the device support base. For example, central axis 202b can be taken as an exemplary illustration of a horizontal central axis of the transmitting end coil.

[0078] For the convenience of description, the alignment clamping arm can be referred to as a clamping arm hereinafter.

[0079] For example, the device support base can be used to support the receiving end device, so that the receiving end device can be placed on the transmitting end device for charging.

[0080] The two alignment clamping arms can be used to move the receiving end device horizontally, so that the position of the receiving end device on the device support base can be changed, so that the relative position of the receiving end coil and the transmitting end coil can be changed. An exemplary introduction to moving the receiving end device can be referred to the description of Figure 3 herein, which is not described in detail.

[0081] The transmitting end coil can be used to transmit energy (for example, electromagnetic energy) to the coil of the receiving end device (i.e., the receiving end coil), so that the receiving end device can receive the electromagnetic energy through the receiving end coil, rectify and filter, and input into the battery. The transmitting end coil can be moved in the vertical direction, and an exemplary introduction to moving the transmitting end coil can be referred to the description of Figure 4 herein, which is not described in detail.

[0082] The process of moving the receiving end device is described below.

[0083] Figure 3 An exemplary diagram of moving the receiving end device is shown.

[0084] The transmitting device can control the movement of the clamping arms via a motor, thereby allowing the clamping arms to move the receiving device. The structure and movement of one of the clamping arms are described below; the structure and movement of the other clamping arm are the same and will not be repeated here.

[0085] like Figure 3 As shown in Figure (1), the clamping arm 203a includes a toothed rack 1 (e.g., toothed rack 301), which contacts a motor (e.g., motor 302) corresponding to the clamping arm 203a. The motor corresponding to the clamping arm can rotate, thereby driving the toothed rack 1 to move, which in turn causes the clamping arm to move. After the clamping arm moves, it can be brought closer to the receiving device or pushed to move the receiving device.

[0086] The motor corresponding to the gripper arm can rotate in one direction (e.g., counterclockwise or clockwise) to move the gripper arm in the forward direction. Changing the direction of rotation (i.e., rotating in the opposite direction) will also change the direction of movement of the gripper arm. Figure 3 As shown in (2), in some possible cases, positive movement includes moving horizontally toward the transmitting coil.

[0087] Moving one clamping arm in the forward direction retracts it, shortening its visible length. Moving one clamping arm in the reverse direction extends it, lengthening its visible length. (Reference) Figure 3 As shown in (2), the visible length of clamping arm 203a is L11, and the visible length of clamping arm 203b is L21. After moving clamping arm 203a in the opposite direction and clamping arm 203b in the forward direction, the visible length of clamping arm 203a becomes longer, and the visible length of clamping arm 203b becomes shorter. For example, as shown in (2), the visible length of clamping arm 203a increases, and the visible length of clamping arm 203b decreases. Figure 3 As shown in (3), the visible length of clamping arm 203a becomes L12 (greater than L11), and the visible length of clamping arm 203b becomes L22 (less than L21). In some possible cases, the reverse movement includes: moving horizontally away from the transmitting coil.

[0088] The speed at which the clamping arm moves is affected by the speed of the motor rotation: the speed at which the clamping arm moves is directly proportional to the speed of the motor rotation. The faster the motor rotates, the faster the clamping arm moves, and the slower the motor rotates, the slower the clamping arm moves.

[0089] It should be understood that in some possible cases, the rotating speed of the motor corresponding to the two clamping arms can be the same, and the moving speed of the two clamping arms is the same. The moving speed of the terminal is the same as the moving speed of the clamping arm. When the clamping arm moves and pushes the receiving end device, the current of the motor corresponding to the clamping arm becomes larger than the preset current, and the degree of change is greater than the change threshold 1. When the clamping arm moves but does not push the receiving end device, the current of the motor corresponding to the clamping arm can not change and is smaller than the preset current, or the degree of change is smaller than the change threshold 2 and smaller than the preset current. The change threshold 1 is greater than the change threshold 2. The current change degree of the motor in the i-th rotation includes the current change of the motor in the i-th rotation compared with the current in the i-1-th rotation. Therefore, when one clamping arm pushes the receiving end device to move, the current of the motor corresponding to the clamping arm is greater than the current of the motor corresponding to the other clamping arm.

[0090] It should also be understood that if the motor corresponding to the clamping arm is locked, it means that the clamping arm corresponding to the motor cannot be moved by rotating the motor without changing the rotating direction of the motor. The motor lock refers to the state that the motor rotates in one direction to the point where it cannot rotate any more. After changing the rotating direction, the motor can continue to rotate. When the motor is locked, the current of the motor corresponding to the motor is much larger than the current when the motor is not locked. The current of the motor when locked can be greater than the preset current. For example, the preset current can usually be 5-7 times the rated current.

[0091] It should be understood here that the schematic diagram of the receiving end device shown in the embodiments of the present application is only illustrative. The actual shape can also be other shapes. For example, the shape of the clamping arm and the position of the clamping arm in the receiving end device are illustrative. The actual clamping arm can also have other shapes and can be closer or farther away from the device support base than shown in the figure.

[0092] The process of moving the transmitting end coil will be described illustratively below.

[0093] Figure 4 A schematic diagram of moving the transmitting end coil is shown.

[0094] The transmitting end device can control the movement of the transmitting end coil through the motor corresponding to the transmitting end coil.

[0095] In some possible cases, as shown in (1) of Figure 4 The transmitting end coil (401) is placed on a steel sheet (for example, steel sheet 402) including a tooth row A (for example, tooth row 403), which is in contact with the motor (for example, motor 404) corresponding to the transmitting end coil. The motor corresponding to the transmitting end coil can rotate to drive the tooth row A to move and thus move the steel sheet. The movement of the steel sheet is the movement of the transmitting end coil, that is, the movement of the steel sheet is the same as the movement of the transmitting end coil.

[0096] AsFigure 4 As shown in (1), the motor (motor 404) corresponding to the transmitter coil can rotate in one direction (e.g., counterclockwise or clockwise) so that the steel sheet (steel sheet 402) including the transmitter coil moves in the vertical direction (e.g., vertically downward). A schematic diagram after the movement can be as shown in (2). Figure 4 As shown in (2), compared with (1), the vertical height of the motor corresponding to the transmitter coil remains unchanged, and the movement distance (both L31) and direction of the transmitter coil and the steel sheet including the transmitter coil are the same. Figure 4 As shown in (1), the vertical height of the motor corresponding to the transmitter coil remains unchanged, and the movement distance (both L31) and direction of the transmitter coil and the steel sheet including the transmitter coil are the same.

[0097] It should be understood that, Figure 3 The way of controlling the movement of the receiving end device as shown in (1) and Figure 4 The way of controlling the movement of the transmitter coil as shown in (1) is an exemplary description. In actual application, other ways can also be used to respectively move the receiving end device and the transmitter coil. For example, a rocker mechanism can be used to control the movement of the clamping arm, and a rocker mechanism can be used to control the movement of the transmitter coil.

[0098] Figure 5 An exemplary flowchart of wireless charging between the transmitter device and the receiving end device is shown.

[0099] The process of wireless charging between the transmitter device and the receiving end device can be described with reference to the following description of steps S101-S108.

[0100] S101. The transmitter device sends energy signals (digital ping) at intervals, and the receiving end device sends signal strength after receiving the digital ping, and the transmitter device detects the signal strength to indicate that the connection with the receiving end device is established.

[0101] Step S101 is used to describe that the transmitter device enters the identification and configuration stage.

[0102] Other related descriptions about the identification and configuration stage can be referred to the following description of step S102. After the identification and configuration is completed, the wireless charging can be started.

[0103] An exemplary way of detecting the receiving end device by the transmitter device can include the following contents.

[0104] After the receiving end device is turned on, the Q value detection can be performed periodically. When the receiving end device detects that the Q value changes to a preset degree, it is determined that the receiving end device or the metal foreign matter enters the magnetic field range of the transmitting end device (or enters the ping area), and the signal strength returned by the receiving end device indicates that the receiving end device is detected. The ping area includes an area in which the receiving end device can receive the energy signal (digital ping) transmitted by the transmitting end device. After the receiving end device enters the ping area, the transmitting end device can trigger the process of establishing a connection with the receiving end device. The ping area can be set as an area that can be contacted by the transmitting end device, or an area that is within a preset distance (for example, 0.5 cm or the like) from the fully unfolded clamping arm for contactless charging. The ping area can also be referred to as a power transmissible area or a signal strength packet detectable area.

[0105] S102. After the transmitting end device identifies the receiving end device, the transmitting end device negotiates parameters involved in charging with the receiving end device. The parameters include power A and power B. Power A is an initial power used after starting charging. Power B is a power used during charging when the transmitting end coil and the receiving end coil are determined to be aligned. Power A is less than or equal to power B.

[0106] The receiving end device sends identity information to the transmitting end device. The identity information can be used to represent the receiving end device, for example, can include a device ID corresponding to the receiving end device. The transmitting end device authenticates the receiving end device based on the identity information. After the authentication is passed, the transmitting end device negotiates parameters involved in charging with the receiving end device. The parameters include power A and power B. Power A is an initial power used after starting charging. Power B is a power used during charging when the transmitting end coil and the receiving end coil are determined to be aligned. Power A is less than or equal to power B.

[0107] S103. The transmitting end device charges the receiving end device with power A.

[0108] Before the alignment is determined to be completed, the transmitting end device charges the receiving end device with a smaller power (power A). In the case that the receiving end device can be charged, the position deviation between the two coils will not cause serious heating and other problems. After the alignment is completed, the receiving end device is charged with a larger power (power B), which improves the charging efficiency.

[0109] In some possible cases, the transmitting end device transmits electromagnetic energy through the transmitting end coil with power A, and the receiving end device receives part of the electromagnetic energy, which is rectified and filtered and then input into the battery.

[0110] The content involved in the alignment between the transmitting end device and the receiving end device can be referred to the following description of steps S104-S108.

[0111] S104. Whether the transmitting end device detects the position information of the receiving end coil.

[0112] In the case that the transmitting end device detects the position information of the receiving end coil, the following step S105 can be performed to realize the alignment of the two coils (the transmitting end coil and the receiving end coil) based on the position information.

[0113] In the case that the transmitting end device does not detect the position information of the receiving end coil, the following step S106 can be performed to realize the horizontal alignment by moving the receiving end device horizontally, and the step S107 can be performed to realize the vertical alignment by moving the transmitting end coil vertically.

[0114] S105. Based on the position information, the transmitting end device moves the receiving end coil to coincide with the center of the transmitting end coil, and the alignment is completed.

[0115] In the case that the transmitting end device detects the position information of the receiving end coil, the following step S105 can be performed. This case usually occurs in the case that the receiving end device can identify the relative position with the transmitting end device. The position information sent by the receiving end device to the transmitting end device describes the position of the center of the receiving end coil relative to the reference coordinate system.

[0116] Figure 6 An example diagram of the reference coordinate system and the position information is shown.

[0117] As shown in Figure 6 , the reference coordinate system can take the center of the transmitting end coil (for example, the coil 201) as the origin, for example Figure 6 the point O1(0, 0) in the diagram can be regarded as the origin of the reference coordinate system. The horizontal center axis of the transmitting end coil is taken as the X axis, and the vertical center axis of the transmitting end coil is taken as the Y axis. The position information of the transmitting end device is the position of the center of the receiving end coil relative to the reference coordinate system. The position information can be represented as the value of the distance from the X axis and the value of the distance from the Y axis, and the unit can be millimeters. For example, Figure 6 O2(x1, y1) shown in the diagram can be the center of an exemplary receiving end coil.

[0118] In the case that x1 is negative, the transmitting end device controls the clamping arms to horizontally move the receiving end device along the positive half-axis of the X-axis by x1 millimeters to complete the horizontal alignment. In the case that x1 is positive, the transmitting end device controls the clamping arms to horizontally move the receiving end device along the negative half-axis of the X-axis by x1 millimeters to complete the horizontal alignment. In the case that y1 is negative, the transmitting end device controls the transmitting end coil to vertically move along the negative half-axis of the Y-axis by y1 millimeters to complete the horizontal alignment. In the case that y1 is positive, the transmitting end coil is vertically moved along the positive half-axis of the Y-axis by y1 millimeters to complete the horizontal alignment.

[0119] It should be understood that, Figure 6 The reference coordinate system shown is an exemplary description, and in actual applications, the reference coordinate system can also have other description manners, which should not constitute a limitation on the embodiments of the present application.

[0120] S106. The transmitting end device moves the receiving end device along the horizontal direction by two clamping arms according to a preset rule 1, and detects the Q value of the transmitting end coil during the movement, and when the receiving end device is moved to a target position 1, the horizontal alignment is completed, and the Q value corresponding to the transmitting end coil at the target position 1 is maximum in the horizontal direction.

[0121] The maximum Q value in the horizontal direction includes that the Q value reaches the maximum value during the horizontal movement of the receiving end device.

[0122] The preset rule 1 includes but is not limited to one or more of the following rules:

[0123] Rule 11: After the clamping arms are started to move, the detected Q value is continuously large, after the receiving end device is moved to position 1 and the Q value is detected to be large, if there is a situation that the Q value is continuously small for R times after the receiving end device is continuously moved, the two clamping arms clamp the receiving end device, and the receiving end device is returned to position 1, and the position 1 is a target position 1. Wherein, the R is an integer greater than or equal to 1, and is usually 2. The rule 11 is applicable to the initial state of the receiving end device placed on the transmitting end device being state A. For example, Figure 7 As shown in (1) of the state A, before the transmitting end device moves the clamping arms, there is at least one near device clamping arm, and the vertical central axis of the receiving end coil is between the vertical central axis of the transmitting end coil and the near device clamping arm. Wherein, the near device clamping arm includes the clamping arm with a smaller distance (less than or equal to a preset distance 1) from the receiving end device among the two clamping arms, and the preset distance 1 can include the distance moved by the T times of the clamping arms corresponding to the motor, and T is an integer greater than or equal to 1, and is usually 2. The detailed description of the rule 11 can be referred to the description of steps S20-S22 below, which is not described here.

[0124] Rule 12: After the receiving device moves following the start of the clamping arm movement, if the detected Q value decreases R times consecutively, the receiving device moves in the reverse direction. If, during the reverse movement of the receiving device, the detected Q value increases consecutively, and after the receiving device reaches position 2 and the detected Q value increases, the receiving device continues to move, resulting in R consecutive decreases in the Q value. This causes the two clamping arms to hold the receiving device, and the receiving device is moved in the reverse direction again, returning it to position 2. This position 2 is a target position 1. Rule 12 applies when the receiving device is initially positioned on the transmitting device in state B. For example... Figure 7 As shown in (2), state B includes: before the transmitting device moves the clamping arm, there is at least one near-device clamping arm, and the vertical center axis of the receiving coil is not located between the vertical center axis of the transmitting coil and the near-device clamping arm. For a detailed description of rule 12, please refer to the following description of steps S30-S33, which will not be repeated here.

[0125] Rule 13: If the receiving device does not move after the clamping arm begins to move (based on rate A1), and the Q value is detected to be the same for T consecutive times, the transmitting device can accelerate the movement of the clamping arm, causing it to move closer to the receiving device and thus enabling the receiving device to move. After confirming that the clamping arm is in contact with the receiving device, the clamping arm is moved again based on rate A1. If the detected Q value continuously increases, horizontal alignment continues as described in Rule 11 above. If the detected Q value continuously decreases, horizontal alignment continues as described in Rule 12 above. If the detected Q value is the same for U consecutive times, it indicates that both clamping arms are in contact with the receiving device, and moving the clamping arms will not cause the receiving device to move. However, it is not yet determined whether the two coils have completed horizontal alignment, so the receiving device can be moved along the test direction. If the detected Q value continuously increases, horizontal alignment continues as described in Rule 11 above. If the detected Q value decreases for R consecutive times, horizontal alignment continues as described in Rule 12 above. Rule 13 applies when the initial state of the receiving device placed on the transmitting device is state C. State C includes: the distance between both clamping arms and the receiving device is greater than a preset distance of 1. For example... Figure 7 As shown in (3), at this time, the receiving device is positioned relatively centrally on the transmitting device. For a detailed description of rule 13, please refer to the following description of steps S40-S44b, which will not be repeated here.

[0126] Rule 14: After the moving of the clamping arms is started, no matter how the Q value changes, if the Q value is the same for U times in succession, it indicates that both clamping arms have contacted the receiving end device, and the moving of the clamping arms will not cause the receiving end device to move. However, it is not determined at this time whether the two coils have completed the horizontal alignment, and the receiving end device can be moved in the test direction. If the detected Q value is continuously larger, the horizontal direction alignment is continued according to the aforementioned rule 11. If the detected Q value is continuously smaller, the horizontal direction alignment is continued according to the aforementioned rule 12.

[0127] The details involved in this step S106 can be referred to the description of the related content of the following Figure 8 The details involved in this step S106 can be referred to the description of the related content of the following

[0128] S107. The transmitting end device moves the transmitting end coil in the vertical direction according to a preset rule 2, and detects the Q value of the transmitting end coil in the moving process. The vertical moving of the transmitting end coil is completed when the transmitting end coil is moved to a target position 2, and the Q value corresponding to the transmitting end coil at the target position 2 is the largest in the vertical direction.

[0129] The Q value being the largest in the vertical direction includes that the Q value reaches the maximum value in the process of moving the transmitting end coil vertically.

[0130] The preset rule 2 includes but is not limited to one or more of the following rules:

[0131] Rule 21: After the moving of the transmitting end coil is started, the detected Q value is continuously larger. After the transmitting end coil is moved to the position 2 and the Q value is detected to be larger, the continuously R times of the Q value being smaller exists in the process of continuously moving the transmitting end coil. The transmitting end coil is moved reversely to return the transmitting end coil to the position 2, and the position 2 is a target position 2. The detailed description of this rule 21 can be referred to the description of the following step S202a-step S203a, which is not described here in detail.

[0132] Rule 22: After the moving of the transmitting end coil is started, the detected Q value is continuously R times smaller. The transmitting end coil is moved reversely. In the process of moving the transmitting end coil reversely, the Q value is continuously larger. After the transmitting end coil is moved to the position 2 and the Q value is detected to be larger, the continuously R times of the Q value being smaller exists in the process of continuously moving the transmitting end coil. The transmitting end coil is moved reversely again to return the transmitting end coil to the position 2, and the position 2 is a target position 2. The detailed description of this rule 22 can be referred to the description of the following step S202b-step S204b, which is not described here in detail.

[0133] It should be understood that in the embodiments of the present application, the Q value decreasing for continuous R times when the transmitting end coil is moved can not be for continuous R times, but also can be for M times, where M is an integer greater than or equal to 1, and the value of M can be the same as R or different from R. Here, M is taken as an example equal to R for illustration.

[0134] The details involved in this step S107 can refer to the description of the related content of the following Figure 12

[0135] S108. The transmitting end device charges the receiving end device with power B.

[0136] After determining that the alignment is completed, the transmitting end device charges the receiving end device with a larger power (power B) to improve the charging efficiency.

[0137] In some possible cases, the transmitting end device adjusts the power of the electromagnetic energy emitted by the transmitting end coil from power A to power B. Then, the electromagnetic energy is emitted by the transmitting end coil with power B, and part of the electromagnetic energy is received by the receiving end device and input into the battery after rectification and filtering.

[0138] Figure 8 An exemplary flowchart for the transmitting end device to implement horizontal alignment according to a preset rule 1 is shown.

[0139] The details of the horizontal alignment can refer to the description of the following steps S10, steps S20-S22, steps S30-S33, steps S40-S44b.

[0140] S10. The transmitting end device moves the two clamping arms in a positive direction at a rate A1, respectively, so that the clamping arms are close to the receiving end device or the receiving end device is moved in direction 1, and after the clamping arms start to move, Q value detection is performed at a preset frequency 1, which includes detecting the Q value once every preset time 1, and the preset time 1 is the time for the transmitting end device to move the clamping arms E times, and the positive direction movement of the clamping arms includes moving the clamping arms from the direction in which the clamping arms point to the axis of the transmitting end coil, and E is an integer greater than or equal to 1, and is usually 1. The positive direction movement of the clamping arms can also be understood as continuing to move the clamping arms in the direction in which the clamping arms are moved for the first time.

[0141] In some possible cases, the movement of the clamping arms is the movement of the transmitting end device, and the preset time 1 can also be the time for the transmitting end device to move the receiving end device E times. The preset frequency 1 can be understood as detecting the Q value once every E times of movement of the clamping arms. Since one rotation of the motor corresponds to one movement of the clamping arm corresponding to the motor, in some possible cases, the preset frequency 1 can also be understood as detecting the Q value once every E times of rotation of the motor. The first preset time can be from the start of the first movement of the clamping arm. ​

[0142] In some possible cases, refer to the foregoing Figure 3 As shown in (1), the transmitting device can rotate the motor corresponding to the clamping arm at a rate A2 so that the clamping arm moves at a rate A1, thereby allowing the clamping arm to approach or move (horizontally) the receiving device. The speed at which the clamping arm moves is affected by the rotation speed of the motor corresponding to the clamping arm: the speed at which the clamping arm moves is directly proportional to the rotation speed of the motor; the faster the motor rotates, the faster the clamping arm moves, and the slower the motor rotates, the slower the clamping arm moves.

[0143] The transmitting device moves the receiving device horizontally along two clamping arms according to preset rule 1 to complete horizontal alignment. After the clamping arms begin moving, Q-value detection can be performed at a preset frequency 1. This preset frequency 1 includes detecting the Q-value once every preset time interval 1, where the preset time interval 1 is the time it takes for the transmitting device to move the clamping arms E times. E is an integer greater than or equal to 1, typically 1.

[0144] The forward movement of the clamping arm includes moving the clamping arm in a direction pointing towards the central axis of the transmitting coil. That is, the forward movement includes moving the clamping arm horizontally towards the transmitting coil.

[0145] It should be understood here that, in some possible cases, when both clamping arms move in the positive direction, the directions of movement of the two clamping arms are opposite.

[0146] It should be understood that the Q-value change during the movement of the receiver differs depending on the initial state of the receiver on the transmitter, leading to different processing methods by the transmitter. Specifically, steps S20-S22 describe the process of horizontal alignment performed by the transmitter using rule 11 when the initial state is state A. Steps S30-S33 describe the process of horizontal alignment performed by the transmitter using rule 12 when the initial state is state B. Steps S40-S44b describe the process of horizontal alignment performed by the transmitter using rule 13 when the initial state is state C.

[0147] Figure 9A as well as Figure 9B A schematic diagram of horizontal alignment completed in state A is shown.

[0148] The following is combined with Figure 9A , Figure 9B And steps S20-S22 describe the process where, when the initial state is the aforementioned state A, the transmitting device completes the horizontal alignment process according to rule 11. State A includes: [e.g., ...] Figure 7As shown in (1), before the transmitting device moves the clamping arm, there is at least one near-device clamping arm, and the vertical center axis of the receiving coil is located between the vertical center axis of the transmitting coil and the near-device clamping arm.

[0149] S20. If the transmitting device determines that the Q value increases for W1 consecutive times, it continues to move the receiving device along direction 1 at a rate A1; where W1 is an integer greater than or equal to 1.

[0150] The value of W1 is random, and the value of W1 can be different under different circumstances.

[0151] Direction 1 is the direction in which the receiving device moves for the first time.

[0152] like Figure 9A As shown in (1), the minimum distance between the clamping arm 203a (near device clamping arm) and the receiving device is less than or equal to a preset distance 1, and the vertical center axis of the receiving coil is located between the vertical center axis of the transmitting coil and the near device clamping arm. At this time, moving the clamping arm 203a in the positive direction at a rate A1 can push the receiving device to move in direction 1, and the clamping arm 203b can be moved in the positive direction at a rate A1 to bring the clamping arm 203b closer to the receiving device (distance S221 is less than distance S211). During the movement, Q value is detected at a preset frequency 1. Comparison Figure 9A Middle (1) and Figure 9A In step (2), during the movement, the vertical central axes of the two coils (the transmitting coil and the receiving coil) gradually approach each other, causing the detected Q value to increase continuously for W1 times. Then, the receiving device continues to move along direction 1 at a rate A1. Figure 9A As shown in (2), the clamping arm 203a is moved in the positive direction so that the moving clamping arm 203a continues to push the receiving device along direction 1. And, the clamping arm 203b is moved in the positive direction so that the moving clamping arm 203b continues to approach the receiving device.

[0153] S21. During the process of continuing to move the receiving device along direction 1, if the transmitting device determines that the Q value decreases R times consecutively, the two clamping arms will clamp the receiving device.

[0154] contrast Figure 9A (2) and Figure 9A In (3), or, in comparison Figure 9A (2) and Figure 9A In the middle (4), as the receiving device continues to move along direction 1, the vertical central axes of the two coils (the transmitting coil and the receiving coil) gradually move away from each other, causing the detected Q value to continuously decrease. Here, we take the movement to... Figure 9AAs shown in (3) of FIG. 1, the transmitting device determines that the Q value is continuously reduced for R times. Then, the transmitting device can make the two clamping arms in a state of clamping the receiving device.

[0155] The transmitting device making the two clamping arms in a state of clamping the receiving device includes that the wireless receiving device first determines whether the two clamping arms are both stalled. If both are stalled, it can be determined that the two clamping arms have clamped the receiving device. An example of the two clamping arms clamping the receiving device can be referred to (4) of FIG. 1. Figure 9A The wireless receiving device determines whether a motor is stalled in the following manner: determining whether the current of the motor is greater than a preset current. If the current is greater than the preset current, the motor is stalled. If there is at least one motor corresponding to a clamping arm that is not stalled, the current of the two motors corresponding to the two clamping arms is determined. The motor with a greater current is stopped to make the clamping arm corresponding to the motor stop moving, and then the motor with a smaller current is continued to be rotated to make the clamping arm corresponding to the motor continue to move closer to the receiving device. During the movement, it is continuously determined whether the two motors corresponding to the two clamping arms are both stalled. When it is determined that the two motors corresponding to the two clamping arms are both stalled, it is determined that the two clamping arms have clamped the receiving device. If there is at least one motor corresponding to a clamping arm that is not stalled, it means that there is a clamping arm that does not contact the receiving device. This can be referred to (3) of FIG. 1. Figure 9A Figure 9A As shown in (3) of FIG. 1, since the clamping arm 203a pushes the receiving device to do work, the motor corresponding to the clamping arm 203a can have a greater current (compared to the motor corresponding to the clamping arm 203b). At this time, the receiving device controls the motor corresponding to the clamping arm 203a to stop rotating to make the clamping arm 203a and the receiving device both stop moving, and controls the motor corresponding to the clamping arm 203b to continue rotating to make the clamping arm 203b contact the receiving device. An example of the two clamping arms clamping the receiving device can be referred to (4) of FIG. 1. Figure 9A

[0156] S22. The transmitting device controls the two clamping arms to move the receiving device back to a position where the Q value is maximum in the horizontal direction (target position 1) for E×R times along direction 2 (opposite to direction 1) at a rate A1.

[0157] After the two clamping arms clamp the receiving device, the transmitting device can control the two clamping arms to move the receiving device in the opposite direction for E×R times (i.e., rotate the motor corresponding to the clamping arm for E×R times) to make the transmitting device return to the position where the Q value is maximum in the horizontal direction (target position 1).

[0158] ​​The reason for moving the arm E×R times is that before the first movement to position 1, the transmitting device can determine that the Q value increases. Subsequent movements of the clamping arm to position 1 result in the Q value decreasing R times. Therefore, position 1 can be determined as the target position 1. Since moving the clamping arm (or motor) E times detects the Q value once, and the Q value decreases R times consecutively, moving the arm in the opposite direction E×R times allows the transmitting device to return to the target position 1. Here, "opposite direction" refers to the opposite direction 2.

[0159] The process of moving the receiving device in the reverse direction to the target position 1 includes: rotating the motor with the smaller initial current among the two clamping arms to move the clamping arm corresponding to the motor with the smaller initial current in the positive direction at a rate A1. Simultaneously, rotating the motor with the larger initial current among the two clamping arms in the reverse direction to move the clamping arm corresponding to the motor with the larger initial current in the opposite direction at a rate A1. After moving the clamping arms E×R times, the movement is stopped, so that the two clamping arms move the receiving device to the target position 1 in direction 2 (opposite to direction 1). Here, the clamping arm corresponding to the motor with the smaller initial current can be called the first clamping arm, and the clamping arm with the larger initial current can be called the second clamping arm. Moving the receiving device in the reverse direction to the target position 1 is equivalent to pushing the receiving device based on the second clamping arm. The initial current of the motor includes the current corresponding to the motor obtained by moving the receiving device until the Q value first continuously increases and then continuously decreases Q times.

[0160] like Figure 9A As shown in (4), the transmitting device can move clamping arm 203a in the opposite direction and clamping arm 203b in the positive direction to push the receiving device to move along direction 2 to the target position 1, thus completing the horizontal alignment. An example of what happens after horizontal alignment can be found in [reference]. Figure 9B As shown in (1), at this time, the vertical central axes of the two coils coincide.

[0161] In some possible cases, after horizontal alignment is completed, the transmitting device can extend its clamping arms to free the receiving device from the clamping arms, making it easier to retrieve the receiving device. (Comparison) Figure 9B Middle (1) and Figure 9B As shown in (2), the transmitting device can move clamping arm 203a in the opposite direction and clamping arm 203b in the opposite direction to unfold the clamping arm. A schematic diagram of the unfolded clamping arm can be found in the figure. Figure 9B The content shown in (2) is as follows.

[0162] Figure 10A as well as Figure 10B A schematic diagram of horizontal alignment completed in state B is shown.

[0163] The following is combined with Figure 10A , Figure 10BAnd steps S30-S33 describe the process where, when the initial state is the aforementioned state B, the transmitting device completes the horizontal alignment process according to rule 12. State B includes: [e.g., ...] Figure 7 As shown in (2), before the transmitting device moves the clamp arm, there is at least one near-device clamp arm, and the vertical center axis of the receiving coil is not located between the vertical center axis of the transmitting coil and the near-device clamp arm.

[0164] S30. When the transmitting device determines that the Q value decreases continuously for R times, the two clamping arms clamp the receiving device, where R is an integer greater than or equal to 1, usually 2.

[0165] like Figure 10A As shown in (1), the minimum distance between the clamping arm 203 (near device clamping arm) and the receiving device is less than or equal to a preset distance 1, and the vertical center axis of the receiving coil is not located between the vertical center axis of the transmitting coil and the near device clamping arm. At this time, moving the clamping arm 203a in the positive direction can push the receiving device to move along direction 1, and moving the clamping arm 203b in the positive direction can bring the clamping arm 203b closer to the receiving device (distance S420 is less than distance S410). During the movement, Q-value detection is performed at a preset frequency 1. Comparison Figure 10A Middle (1) and Figure 10A In (2), during the movement, the vertical central axes of the two coils (the transmitting coil and the receiving coil) gradually move away from each other, causing the detected Q value to decrease continuously. Here, we take the movement to... Figure 10A Take the position shown in (2) as an example.

[0166] If the transmitting device determines that the Q value decreases R times consecutively, then the transmitting device can position the two clamping arms to hold the receiving device. For example... Figure 10A As shown in (2), since the clamping arm 203a pushes the receiving device to do work, the motor current corresponding to the clamping arm 203a can be larger (compared to the motor corresponding to the clamping arm 203b). At this time, the receiving device controls the motor corresponding to the clamping arm 203a to stop rotating so that both the clamping arm 203a and the receiving device stop moving, and controls the motor corresponding to the clamping arm 203b to continue rotating so that the clamping arm 203b contacts the receiving device. A schematic diagram of the receiving device after the two clamping arms clamp it can be found in [reference]. Figure 10A (3)

[0167] The details regarding the wireless receiving device causing the two clamping arms to be in a state of holding the receiving device can be found in the aforementioned descriptions, and will not be repeated here.

[0168] S31. Control the two clamping arms to move the receiving device along direction 2 (opposite to direction 1) according to the rate A1.

[0169] After the two clamping arms clamps the receiving end device, the transmitting end device can control the two clamping arms to move the receiving end device reversely, wherein the reverse direction is opposite to the direction 1.

[0170] The process of moving the receiving end device along the direction 2 includes: continuing to rotate the motor corresponding to the clamping arm with smaller current to move the clamping arm corresponding to the motor along the positive direction at the rate A1. Meanwhile, the motor corresponding to the clamping arm with larger current is rotated reversely to move the clamping arm corresponding to the motor along the reverse direction at the rate A1. As shown in the figure (3), the clamping arm 203a moves the receiving end device to do work, so the motor corresponding to the clamping arm 203a has larger current. Therefore, the transmitting end device can rotate the motor corresponding to the clamping arm 203a reversely to move the clamping arm 203a along the reverse direction, and rotate the motor corresponding to the clamping arm 203b reversely to move the clamping arm 203b along the direction 2. Figure 10A

[0171] S32. During the process of moving the receiving end device along the direction 2, the transmitting end device continues to control the two clamping arms to move the receiving end device along the direction 2 at the rate A1 when it is determined that the Q value is continuously increased for W2 times, wherein W2 is an integer greater than or equal to 1.

[0172] The value of W2 is random, and the value of W2 can be different in different cases.

[0173] For comparison Figure 10A In the figure (3) and Figure 10A In the figure (4), the transmitting end device moves the clamping arm 203a reversely and moves the clamping arm 203b along the direction 2 to push the receiving end device to move along the direction 2. In this way, the vertical central axes of the two coils (the transmitting end coil and the receiving end coil) gradually approach each other, so that the detected Q value is continuously increased for W2 times. Then, the receiving end device is continuously moved along the direction 2 at the rate A1.

[0174] S33. During the process of continuously moving the receiving end device along the direction 2, the transmitting end device controls the two clamping arms to move the receiving end device along the direction 1 at the rate A1 for E×R times to return to the position (target position 1) where the Q value is maximum in the horizontal direction when it is determined that the Q value is continuously decreased for R times.

[0175] For comparison Figure 10B In the figure (1) and Figure 10B ​As shown in (2), the transmitting device moves clamp arm 203a in the opposite direction, and the receiving device moves clamp arm 203b in the forward direction, pushing the receiving device along direction 2. In this way, the vertical central axes of the two coils (the transmitting coil and the receiving coil) gradually move away from each other, causing the detected Q value to continuously decrease. When it is determined that the Q value decreases continuously for R times, the transmitting device can control the two clamp arms to move the receiving device back to the target position 1 by E×R times in the opposite direction (along direction 1) at a rate A1.

[0176] The process of moving the receiving device to target position 1 in the reverse direction includes: rotating the motor with the smaller initial current among the two clamping arms to move the clamping arm corresponding to the motor with the smaller initial current in the positive direction at a speed A1. Simultaneously, rotating the motor with the larger initial current among the two clamping arms in the reverse direction to move the clamping arm corresponding to the motor with the larger initial current in the opposite direction at a speed A1. After moving the clamping arms E×R times, the movement is stopped, so that the two clamping arms move the receiving device to target position 1 along direction 2 (opposite to direction 1). The process of moving the receiving device back to target position 1 along direction 1 can be referred to the following... Figure 10B (2) and Figure 10B The description in (3) is as follows. Before the receiving device is moved in the reverse direction, the motor current corresponding to the clamping arm 203b is larger and the motor current corresponding to the clamping arm 203a is smaller because the clamping arm 203b pushes the receiving device to do work. Then the receiving device rotates the motor corresponding to the clamping arm 203a in the reverse direction to move the clamping arm 203a in the positive direction, and rotates the motor corresponding to the clamping arm 203b in the reverse direction to move the clamping arm 203b in the opposite direction. In this way, the receiving device can be pushed to move along direction 1 to the target position 1, and the horizontal alignment is completed. An example of the horizontal alignment can be found in the following section. Figure 10B As shown in (3), at this time, the vertical central axes of the two coils coincide.

[0177] In some possible cases, after horizontal alignment is completed, the transmitting device can extend its clamping arms to free the receiving device from the clamping arms, making it easier to retrieve the receiving device. (Comparison) Figure 10B Middle (3) and Figure 10B As shown in (4), the transmitting device can move clamping arm 203a in the opposite direction and clamping arm 203b in the opposite direction to unfold the clamping arm. A schematic diagram of the unfolded clamping arm can be found in the figure. Figure 10B The content shown in (4) is shown in the middle.

[0178] Figure 11A as well as Figure 11B A schematic diagram of horizontal alignment being completed in state C is shown.

[0179] The following is combined with Figure 11A , Figure 11BAnd step S40-step S44b describes the initial state is the state C involved in the foregoing, the transmitting end device completes the process of horizontal alignment by rule 11. The state C includes: Figure 7 As shown in the middle (3), the distance between the two clamping arms and the receiving end device is greater than the preset distance 1.

[0180] S40. When the Q value is determined to be the same for T consecutive times, the transmitting end device moves the two clamping arms in the positive direction at a rate B1 (greater than rate A1), and during the movement of the clamping arms, the Q value is detected at a preset frequency 2 (less than the preset frequency 1). T is an integer greater than or equal to 1, for example, it can be 1 or 2, and usually it is 2.

[0181] Reference Figure 11A As shown in the middle (1), the two clamping arms (including clamping arm 203a and clamping arm 203b) are far away from the receiving end device, so during the movement of the clamping arms in the positive direction, the receiving end device does not move, and the Q value does not change. In contrast Figure 11A In the middle (1) and Figure 11A In the middle (2), when the Q value is determined to be the same for T consecutive times, the transmitting end device can accelerate the movement of the clamping arms so that at least one clamping arm quickly contacts the receiving end device.

[0182] S41. When it is detected that at least one clamping arm contacts the receiving end device, the two clamping arms are controlled to move in the positive direction at a rate A1, and during the movement of the clamping arms, the Q value is detected at a preset frequency 1.

[0183] The case that at least one clamping arm contacts the receiving end device includes but is not limited to the following cases:

[0184] Case 11: One clamping arm contacts the receiving end device, and the other clamping arm does not contact the receiving end device. In this case, when the transmitting end device controls the two clamping arms to move in the positive direction at a rate A1, it can push the receiving end device to move in direction 1. After starting to move, the vertical central axes of the two coils can be close or far away. Wherein, when the vertical central axes of the two coils are close after starting to move, the process of horizontal alignment can be achieved by referring to the foregoing description of steps S20-step S22, and Figure 9A , Figure 9B The description of steps S30-step S33, and Figure 10A , Figure 10B The description of steps S30-step S33, and

[0185] Case 12: Both clamping arms are in contact with the receiving device. In this case, as the transmitting device controls the two clamping arms to move in the positive direction, the forces of the two clamping arms cancel each other out, so the receiving device will not move, and therefore the Q value remains unchanged. For a description of how the transmitting device achieves horizontal alignment in this case, please refer to the following descriptions of steps S42, S43a, S43b, and S44b.

[0186] S42. During the process of controlling the two clamping arms to move in the positive direction, if the transmitting end device determines that the Q value is the same for U consecutive times, the receiving end device is controlled to move the two clamping arms along the test direction according to the rate A1.

[0187] The test direction is random; it can be horizontally to the left or right, and can be considered as the direction in which the receiving device moves for the first time. In some possible cases, the test direction can be the direction 1 mentioned above.

[0188] like Figure 11A As shown in Figure (2), both clamping arms (including clamping arm 203a and clamping arm 203b) are in contact with the receiving device. At this time, as the transmitting device controls the two clamping arms to move in a positive direction, the forces of the two clamping arms cancel each other out, so the receiving device will not move, and therefore the Q value remains unchanged. At this time, the relative position of the vertical central axes of the two coils does not change; for example, the distance between the two coils is... Figure 11A Middle (1) and Figure 11A S41 is shown in (2).

[0189] If the transmitting device determines that the Q value is the same for U consecutive times, it can control the two clamping arms to move the receiving device along the test direction at a rate A1 to perform horizontal alignment. The process of controlling the two clamping arms to move the receiving device along the test direction at a rate A1 includes: rotating the motor corresponding to one clamping arm in the opposite direction to move that arm in the opposite direction, and rotating the motor corresponding to the other clamping arm to move that arm in the positive direction. This propels the receiving device to move.

[0190] After the receiving device is moved along the test direction by the two clamping arms according to the rate A1, the initial change in the Q value may be either an increase or a decrease. When the initial change in the Q value is an increase, refer to the description of step S43a below. When the initial change in the Q value is a decrease, refer to the descriptions of steps S43b and S44b below, which will not be repeated here.

[0191] S43a. During the process of moving the receiving end device along the test direction, the transmitting end device determines the case that the Q value continuously decreases for R times after continuously increasing for W3 times, and then controls the two clamping arms to move the receiving end device back to the position (target position 1) where the Q value is the largest in the horizontal direction at a rate of A1 in the opposite direction of the test direction for E x R times; wherein W3 is an integer greater than or equal to 1.

[0192] The value of W3 is random, and the value of W3 can be different in different cases.

[0193] As shown in (3) of Figure 11A , the transmitting end device controls the clamping arm 203a to move in the positive direction, and controls the clamping arm 203b to move in the opposite direction, so as to make the receiving end device move along the test direction. In comparison with Figure 11A (3) and Figure 11A (4), during the movement of the receiving end device, the vertical central axis of the receiving end coil gradually approaches the vertical central axis of the transmitting end coil, and during this process, the Q value continuously increases. An exemplary display of the transmitting end device determining the Q value for W3 times can refer to the content of Figure 11A (4). Then, the transmitting end device continues to control the clamping arm 203a to move in the positive direction, and controls the clamping arm 203b to move in the opposite direction, so as to make the receiving end device continue to move along the test direction.

[0194] In comparison with Figure 11B (1) and Figure 11B (2), during the process of continuing to control the clamping arm 203a to move in the positive direction, and controlling the clamping arm 203b to move in the opposite direction, so as to make the receiving end device continue to move along the test direction, the vertical central axis of the receiving end coil gradually moves away from the vertical central axis of the transmitting end coil, and the Q value decreases. After detecting that the Q value continuously decreases for R times, the transmitting end device can control the clamping arm 203a to move in the opposite direction, and control the clamping arm 203b to move in the positive direction, so as to make the receiving end device move reversely to the target position 1, and complete the horizontal alignment. An exemplary content after completing the horizontal alignment can refer to the content shown in Figure 11B (3), at this time, the vertical central axes of the two coils coincide. The description of making the receiving end device move reversely to the target position 1 can refer to the description of moving the receiving end device reversely in the foregoing steps S22 and S33, and will not be described here.

[0195] In some possible cases, after completing the horizontal alignment, the transmitting end device can unfold the clamping arms so that the receiving end device is not clamped by the clamping arms, facilitating taking the receiving end device. In comparison with Figure 11B (3) and Figure 11BAs shown in FIG. 4, the transmitting end device can move the clamping arm 203a in the reverse direction, and move the clamping arm 203b in the reverse direction, so as to unfold the clamping arms. A schematic view of the unfolded clamping arms can be referred to FIG. 3. Figure 11B As shown in FIG. 4.

[0196] S43b. In a case where the Q value is determined to decrease continuously R times, the transmitting end device controls the two clamping arms to move the receiving end device in the reverse direction of the test direction at a rate A1.

[0197] The step S43b is the same as the contents involved in the foregoing steps S30 and S31, and does not involve the contents of making the two clamping arms clamp the receiving end device. Because the two clamping arms are in contact with the receiving end device in the step S43b, it is equivalent to that the receiving end device has been clamped. The foregoing descriptions of the steps S30 and S31 can be referred to, and will not be described here.

[0198] S44b. In a case where the Q value is determined to decrease continuously R times after increasing continuously W4 times, the transmitting end device controls the two clamping arms to move the receiving end device back to the position (target position 1) where the Q value is maximum in the horizontal direction along the test direction E×R times at a rate A1 during the movement of the receiving end device in the reverse direction of the test direction. Wherein, W4 is an integer greater than or equal to 1.

[0199] The step S44b is the same as the contents involved in the foregoing steps S32 and S33. The foregoing descriptions of the steps S32 and S33 can be referred to, and will not be described here.

[0200] It should be understood that, in the foregoing Figure 8 and the related contents involved therein, no matter the initial state between the receiving end device and the transmitting end device. During the control of the horizontal movement of the receiving end device, the receiving end device needs to be moved to the target position 1 in the reverse direction only when the first condition is met. The first condition is that the Q value needs to be determined to decrease continuously R times after increasing continuously. That is, the first condition can be understood as that the Q value increases continuously before the receiving end device moves to the target position 1, and decreases continuously R times after the receiving end device moves to the target position 1. The target position 1 can be referred to as the first position. During the process that the Q value increases continuously and then decreases continuously R times, the moving direction of the receiving end device can be referred to as the first direction. For example, the first direction can be the direction 1 involved in the foregoing steps S20-S22; can also be the direction 2 involved in the foregoing steps S31-S33; can also be the predicted direction involved in the step S43a; and can also be the reverse direction of the predicted direction involved in the steps S43b and S44b. The clamping arm that pushes the receiving end device to move horizontally in the first direction can be referred to as the first clamping arm, and the clamping arm that pushes the receiving end device to move in the reverse direction under the condition of the first condition can be referred to as the second clamping arm.

[0201] Figure 12 An exemplary flow chart is shown to illustrate how the transmitting end device implements vertical direction alignment according to preset rule 2.

[0202] The details of the vertical direction alignment can be referred to the following description of steps S201-S204b.

[0203] S201. Move the transmitting end coil along direction 3 (vertically upward or vertically downward) at a rate C1, and perform Q value detection at a preset frequency 3 during the movement of the transmitting end coil, the preset frequency 3 including detecting the Q value once every preset time 2, the preset time 2 being the time for the transmitting end device to move the transmitting end coil G times. Wherein, G is an integer greater than or equal to 1, and is usually 1.

[0204] The rate C1 can be the same as the aforementioned preset rate A1, or can be different. The preset frequency 3 can be the same as the aforementioned preset rate 1, or can be different. The embodiments of the present application do not limit this.

[0205] In some possible cases, the contents shown in (1) of the aforementioned Figure 4 and (2) of the aforementioned Figure 4 may be referred to. The transmitting end device can rotate the motor corresponding to the transmitting end coil based on the rate C2 to make the transmitting end coil move (vertically move) along direction 3 at the rate C1. Wherein, the rate of the movement of the transmitting end coil is affected by the rotation rate of the motor corresponding to the transmitting end coil: the rate of the movement of the transmitting end coil is proportional to the rotation rate of the motor, the faster the motor rotates, the faster the rate of the movement of the transmitting end coil, and the slower the motor rotates, the slower the rate of the movement of the transmitting end coil.

[0206] The transmitting end device moves the transmitting end coil according to preset rule 2 to complete the vertical direction alignment. The preset rule 2 includes the aforementioned preset rule 21 and rule 22.

[0207] Wherein, rule 21 describes the initial change state of the Q value when moving the transmitting end coil, which is the vertical direction alignment mode involved when the Q value becomes larger. The detailed description of rule 21 can be referred to the following description of Figure 13 and steps S202a-S203a.

[0208] Figure 13 An exemplary diagram is shown to illustrate the movement of the transmitting end coil.

[0209] The following describes steps S202a-S203a. Figure 13

[0210] ​S202a. If the Q value continuously increases P1 times, continue to move the transmitting coil along direction 3 at the speed C1; P1 is an integer greater than or equal to 1.

[0211] P1 is an integer greater than or equal to 1, and the value of P1 is random, which can be different in different cases.

[0212] Comparing Figure 13 (1) and Figure 13 (2), the horizontal central axis of the transmitting coil gradually approaches the horizontal central axis of the receiving coil, so that the detected Q value continuously increases P1 times. In some possible cases, the horizontal central axis of the receiving coil is a line passing through the center of the receiving coil and parallel to the horizontal edge of the receiving device.

[0213] S203a. If the Q value continuously decreases R times during the process of continuously moving the transmitting coil along direction 3, move the transmitting coil along direction 4 (opposite to direction 3) at the speed C1 to return to the position (target position 2) where the Q value is maximum in the vertical direction G times R.

[0214] As shown in Figure 13 (2), the horizontal central axis of the transmitting coil coincides with the horizontal central axis of the receiving coil, but the transmitting device does not determine that the transmitting coil has reached the target position 2 at this time. Continue to move the transmitting coil along direction 3, and it can be determined that the Q value continuously decreases R times. At this time, the position of the transmitting coil relative to the receiving coil can be referred to as shown in Figure 13 (3). Then, move the transmitting coil along direction 4 (opposite to direction 3) at the speed C1 to return to the target position 2 G times R.

[0215] Rule 22 describes the vertical direction alignment mode involved when the Q value decreases when the transmitting coil is moved. For detailed description of the rule 22, please refer to the description of steps S202b-S204b below.

[0216] S202b. If the Q value continuously decreases R times, move the transmitting coil along direction 4 (opposite to direction 3) at the speed C1.

[0217] During the movement of the transmitting coil, it gradually moves away from the receiving coil, so that the Q value decreases. If it is determined that the Q value continuously decreases R times, move the transmitting coil along direction 4 (opposite to direction 3) at the speed C1.

[0218] S203b. If the Q value continuously increases P2 times during the process of moving the transmitting coil along direction 4, continue to move the transmitting coil along direction 4 at the speed C1; P2 is an integer greater than or equal to 1.

[0219] The step S203b is the same as the principle of the aforementioned step S202a, and the moving direction of the transmitting end coil is correspondingly changed. For details, refer to the description of the step S202a, and no further description is given here.

[0220] S204b. During the process of continuously moving the transmitting end coil in the direction 4, if it is determined that the Q value continuously decreases R times, the transmitting end coil is moved in the direction 3 at the rate C1 to return to the position (target position 2) where the Q value is maximum in the vertical direction G times R.

[0221] The step S204b is the same as the principle of the aforementioned step S203a, and the moving direction of the transmitting end coil is correspondingly changed. For details, refer to the description of the step S203a, and no further description is given here.

[0222] It should be understood that in some possible cases, in addition to the receiving end device being controlled to move by the clamping arm, the receiving end device can also be controlled to move by other manners. For example, the device support base of the transmitting end device can be set as a slidable base, and the sliding direction is variable. The horizontal movement of the receiving end device is realized by the movement of the slidable base instead of the clamping arm.

[0223] In some possible cases, in addition to the transmitting end coil being controlled to move vertically to complete the alignment, the receiving end device can also be controlled to move vertically and the transmitting end coil can be controlled to move horizontally to complete the alignment. For details, refer to the description of the foregoing content, and the moving direction is changed. No further description is given here.

[0224] It should be understood that the foregoing Figure 12 In the foregoing and related content, in the process of moving the transmitting end coil, no matter how the Q value changes initially, in the process of controlling the transmitting end coil to move vertically, the transmitting end coil needs to be reversely moved to the target position 2 only when the second condition is met. The second condition is that in the process of moving the transmitting end coil vertically, the Q value needs to continuously increase and then continuously decrease R times. That is, the second condition can be understood as that the Q value continuously increases before the transmitting end coil moves to the target position 2, and continuously decreases M times after the transmitting end coil moves to the target position 2. The target position 2 can be referred to as the second position. In the process of the Q value continuously increasing and then continuously decreasing R times, the moving direction of the transmitting end coil can be referred to as the second direction. For example, the second direction can be the direction 3 involved in the aforementioned step S202a and step S203b. It can also be the direction 4 involved in the aforementioned step S202b to step S204b.

[0225] Based on the foregoing description, it should be understood that, in some possible cases, the transmitting end device can move the receiving end device along a first direction, and determine the first parameter of the transmitting end device according to a first frequency in the process of moving the receiving end device; the receiving end device is moved to a first position; the first position is the position of the receiving end device when the transmitting end device determines that the first parameter is maximum in the process of moving the receiving end device; the transmitting end coil is moved along a second direction, and the first parameter of the transmitting end device is determined according to a second frequency in the process of moving the transmitting end coil; the transmitting end coil is moved to a second position; the second position is the position of the transmitting end coil when the transmitting end device determines that the first parameter is maximum in the process of moving the transmitting end coil; and the first direction and the second direction are perpendicular. The movement along the first direction can be understood as movement along a horizontal direction (which can be referred to as horizontal movement) or movement along a vertical direction (which can be referred to as vertical movement).

[0226] An example transmitting end device provided by the embodiments of the present application is introduced below.

[0227] Figure 14 FIG. 1 is a structural schematic diagram of a transmitting end device provided by the embodiments of the present application.

[0228] It should be understood that the transmitting end device can have more or fewer components than those shown in FIG. 1, can combine two or more components, or can have a different component configuration. Figure 14 The various components shown in FIG. 1 can be implemented in hardware, software, or a combination of hardware and software, including one or more signal processing and / or application specific integrated circuits. Figure 14 The various components shown in FIG. 1 can be implemented in hardware, software, or a combination of hardware and software, including one or more signal processing and / or application specific integrated circuits.

[0229] The transmitting end device can include a processor 210, a memory 220, a transmitting end coil 230, a clamping arm combination 240, and a motor set 250.

[0230] The memory 220 is coupled to the processor 210, and can be used to store computer program code including computer instructions, which can be invoked by the processor 210 to enable the transmitting end device to perform the device movement method involved in the embodiments of the present application.

[0231] The transmitting end coil 230 can be used to transmit energy for the receiving end coil to implement charging. The transmitting end coil can be moved vertically to enable the receiving end device and the transmitting end device to complete vertical alignment.

[0232] The clamping arm combination 240 can include two clamping arms, which can be used to control horizontal movement of the receiving end device, so as to enable the receiving end device and the transmitting end device to complete horizontal alignment.

[0233] The motor set 250 can include a motor corresponding to the two clamping arms and a motor corresponding to the transmitting end coil 230. The motor corresponding to the two clamping arms can control the movement of the clamping arms, and the motor corresponding to the transmitting end coil 230 can control the movement of the transmitting end coil 230.

[0234] An example receiving end device provided by the embodiment of the present application is introduced below.

[0235] Figure 15 FIG. 1 is a structural schematic diagram of a receiving end device provided by the embodiment of the present application.

[0236] The receiving end device in the embodiment of the present application can be a terminal device running Android, Huawei HarmonyOS, iOS or other operating systems. For example, in the example shown in FIG. 1, the receiving end device is a mobile phone. Figure 15

[0237] The receiving end device can include a charging coil (i.e., a receiving end coil, for example, the coil 102). The receiving end coil can be used to receive the energy transmitted by the transmitting end coil and convert the energy into electric energy to charge the receiving end device.

[0238] It can be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the receiving end device. In other embodiments of the present application, the receiving end device can include more or fewer components than those shown, or combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software or a combination of software and hardware.

[0239] In the embodiment of the present application, the receiving end device can further include a processor, which can call computer instructions stored in an internal memory to enable the receiving end device to perform the method involved in the embodiment of the present application.

[0240] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

[0241] ​In the above embodiments, the term "when" can be interpreted as meaning "if" or "after" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "upon determining" or "if detecting (a stated condition or event)" can be interpreted as meaning "if determining" or "in response to determining" or "upon detecting (a stated condition or event)" or "in response to detecting (a stated condition or event)" depending on the context.

[0242] In the above embodiments, all or part of the methods can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the methods can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media (such as DVD), or semiconductor media (such as solid state disk), etc.

[0243] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be instructed by a computer program to relevant hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned method embodiments. The aforementioned storage medium includes ROM or random access memory (RAM), magnetic disk or optical disk, and various program code storage media.

Claims

1. A method for moving a device, applicable to a transmitting device, wherein, The transmitting device includes a transmitting coil, characterized in that, when the transmitting device cooperates with a receiving device including a receiving coil, the method includes: The transmitting device moves the receiving device to a first position along a first direction, and during the movement of the receiving device, a first parameter is determined according to a first frequency; wherein, the first position is the position of the receiving device corresponding to the maximum value of the first parameter during the movement of the receiving device; and Based on the fact that the receiving device is located at the first position, the transmitting device moves the transmitting coil to the second position along a second direction perpendicular to the first direction. During the movement of the transmitting coil, the first parameter is determined according to the second frequency. The second position is the position of the transmitting coil when the first parameter is at its maximum during the movement of the transmitting coil.

2. The method according to claim 1, characterized in that, The method further includes: When the transmitting device moves the receiving device along the first direction to meet the first condition, the transmitting device stops moving the receiving device along the first direction and moves the receiving device to the first position in the opposite direction of the first direction; wherein, The first condition includes: the first parameter continuously increases and then continuously decreases R times; wherein, R is an integer greater than or equal to 1.

3. The method according to claim 1 or 2, characterized in that, The method further includes: When the transmitting device moves the transmitting coil along the second direction to meet the second condition, the transmitting device stops moving the transmitting coil along the second direction and moves the transmitting coil to the second position in the opposite direction of the second direction; wherein, The second condition includes: the first parameter continuously increases and then continuously decreases M times; wherein, M is an integer greater than or equal to 1.

4. The method according to claim 2 or 3, characterized in that, The method further includes: Before the transmitting device moves the receiving device along the first direction, the transmitting device charges the receiving device with a first power; and After the transmitting device moves the transmitting coil to the second position, the transmitting device charges the receiving device with a second power greater than the first power.

5. The method according to any one of claims 2-4, characterized in that, The transmitting device includes a first clamping arm and a second clamping arm; The transmitting device pushes the receiving device to move along the first direction via the first clamping arm; and The transmitting device pushes the receiving device to move in the opposite direction of the first direction based on the second clamping arm.

6. The method according to claim 5, characterized in that, Before the transmitting device moves the receiving device along the first direction, the method further includes: The two clamping arms move toward the transmitting coil at a first rate, and the transmitting device determines the first parameter according to the first frequency; wherein... If the transmitting device determines that the first parameter is the same for T consecutive times, the two clamping arms are moved toward the transmitting coil at a second rate less than the first rate, and the first parameter is determined at a third frequency greater than the second rate and less than the first rate; wherein, T is an integer greater than or equal to 1.

7. The method according to claim 5 or 6, characterized in that, The transmitting device also includes a first motor corresponding to the first clamping arm and a second motor corresponding to the second clamping arm. The first motor drives the first clamping arm to move, and the second motor drives the second clamping arm to move.

8. The method according to claim 8, characterized in that, The transmitting device also includes a third motor corresponding to the transmitting coil, which drives the transmitting coil to move. The transmitting device controls the third motor to rotate in the opposite direction to move the transmitting coil to the second position in the opposite direction of the second direction.

9. A transmitting device for wirelessly charging a receiving device including a receiving coil, characterized in that, The transmitting device includes two clamping arms and a transmitting coil, wherein: The two clamping arms can extend and retract along a first direction respectively; and the transmitting coil can move along a second direction perpendicular to the first direction; wherein, when the transmitting device works in conjunction with the receiving device, the device moving method as described in claim 1 can be realized.

10. The transmitting device according to claim 9, characterized in that, The transmitting device includes: A first motor corresponding to the first clamping arm drives the first clamping arm to move. A second motor corresponding to the second clamping arm drives the second clamping arm to move; and A third motor corresponding to the transmitting coil drives the transmitting coil to move.

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